( 12 ) United States Patent
`Ying et al .
`
`US 10,597,107 B2
`( 10 ) Patent No .:
`( 45 ) Date of Patent :
`Mar. 24 , 2020
`
`US010597107B2
`
`( 54 ) ELECTRIC VEHICLE
`( 71 ) Applicant : Hangzhou Chic Intelligent Technology
`Co. , Ltd. , Hangzhou ( CN )
`( 72 ) Inventors : Jiawei Ying , Hangzhou ( CN ) ; Shaojun
`Cao , Hangzhou ( CN )
`( 73 ) Assignee : Hangzhou Chic Intelligent Technology
`Co. , Ltd. , Hangzhou ( CN )
`Subject to any disclaimer , the term of this
`patent is extended or adjusted under 35
`U.S.C. 154 ( b ) by 0 days .
`( 21 ) Appl . No .: 16 / 658,020
`( 22 )
`Filed :
`Oct. 18 , 2019
`( 65 )
`Prior Publication Data
`Feb. 13 , 2020
`US 2020/0047839 A1
`
`( * ) Notice :
`
`Related U.S. Application Data
`( 63 ) Continuation of application No. 16 / 429,636 , filed on
`Jun . 3 , 2019 , now Pat . No. 10,486,764 , which is a
`( Continued )
`Foreign Application Priority Data
`( 30 )
`( CN )
`2014 1 0262353
`Jun . 13 , 2014
`( 51 ) Int . Ci .
`B62K 11/00
`B62D 61/02
`
`( 2006.01 )
`( 2006.01 )
`( Continued )
`
`( 52 ) U.S. Ci .
`CPC
`
`B62K 11/007 ( 2016.11 ) ; B62D 51/001
`( 2013.01 ) ; B62D 51/02 ( 2013.01 ) ;
`( Continued )
`( 58 ) Field of Classification Search
`CPC
`B62K 11/007 ; B62K 3/002
`See application file for complete search history .
`
`( 56 )
`
`References Cited
`U.S. PATENT DOCUMENTS
`
`5,791,425 A
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`
`8/1998 Kamen et al .
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`( Continued )
`FOREIGN PATENT DOCUMENTS
`
`CN
`CN
`
`11/2008
`100431906 C
`12/2010
`101920728 A
`( Continued )
`
`OTHER PUBLICATIONS
`International Search Report dated Mar. 11 , 2015 in connection with
`International Patent Application No. for PCT / C2014 / 092849 , 2
`pages .
`
`( Continued )
`Kevin Hurley
`Primary Examiner
`( 57 )
`ABSTRACT
`An electric self - balancing vehicle including a top cover , a
`bottom cover , an inner cover , a rotating mechanism , two
`wheels , two hub motors , a plurality of sensors , a power
`supply , and a controller is described herein . The top cover
`includes a first top cover and a second top cover disposed
`symmetrically and rotatable relative to each other . The
`bottom cover is fixed to the top cover and includes a first
`bottom cover and a second bottom cover disposed symmetri
`cally and rotatable relative to each other . The inner cover is
`fixed between the top cover and the bottom cover and
`includes a first inner cover and a second inner cover dis
`posed symmetrically and rotatable relative to each other . The
`rotating mechanism is fixed between the first inner cover and
`the second inner cover . The two wheels are rotatably fixed
`at two sides of the inner cover , respectively . The two hub
`motors are fixed in the two wheels , respectively . The plu
`rality of sensors is disposed between the bottom cover and
`the inner cover , respectively . The power supply is fixed
`between the first bottom cover and the first inner cover . The
`controller is fixed between the second bottom cover and the
`second inner cover , the controller is electrically connected
`( Continued )
`
`2 .
`
`7
`
`3
`
`33
`
`32
`
`DGL Exhibit 1001
`Page 0001
`
`

`

`US 10,597,107 B2
`Page 2
`
`with the plurality of sensors , the power supply , and the hub
`motors , and the controller controls the hub motors to drive
`the corresponding wheels to rotate according to sensing
`signals transmitted by the sensors .
`25 Claims , 6 Drawing Sheets
`
`Related U.S. Application Data
`continuation of application No. 15 / 160,589 , filed on
`May 20 , 2016 , now Pat . No. 10,336,392 , which is a
`continuation of application No. 14 / 773,650 , filed as
`application No. PCT / CN2014 / 092849 on Dec. 2 ,
`2014 , now Pat . No. 9,376,155 .
`Int . Ci .
`B62D 51/02
`B62D 51/00
`B62K 17/00
`B62K 3/00
`( 52 ) U.S. CI .
`CPC
`
`( 51 )
`
`( 2006.01 )
`( 2006.01 )
`( 2006.01 )
`( 2006.01 )
`
`( 56 )
`
`B62D 61/02 ( 2013.01 ) ; B62K 37002
`( 2013.01 ) ; B62K 17/00 ( 2013.01 ) ; B62K
`2204/00 ( 2013.01 ) ; B62K 2207/00 ( 2013.01 ) ;
`YO2T 10/7258 ( 2013.01 )
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`FOREIGN PATENT DOCUMENTS
`
`CN
`CN
`CN
`
`CN
`
`CN
`CN
`CN
`
`EP
`EP
`JP
`JP
`JP
`JP
`RU
`
`202201103 U
`102514662 A
`102602481 A
`202669532 U
`203158157 U
`203186511 U
`203268232 U
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`2456195 C2
`
`4/2012
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`8/2014
`7/2012
`
`DGL Exhibit 1001
`Page 0002
`
`

`

`US 10,597,107 B2
`Page 3
`
`( 56 )
`
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`
`DGL Exhibit 1001
`Page 0003
`
`

`

`U.S. Patent
`
`Mar. 24 , 2020
`
`Sheet 1 of 6
`
`US 10,597,107 B2
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`62
`
`8385
`
`W2
`
`3
`
`7
`
`FIG . 1
`
`DGL Exhibit 1001
`Page 0004
`
`

`

`U.S. Patent
`
`Mar. 24 , 2020
`
`Sheet 2 of 6
`
`US 10,597,107 B2
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`16 11 13
`
`12 16
`
`2
`
`000
`
`23
`7
`
`24
`
`62 .
`
`00
`
`32
`
`FIG . 2
`
`DGL Exhibit 1001
`Page 0005
`
`

`

`U.S. Patent
`
`Mar. 24 , 2020
`
`Sheet 3 of 6
`
`US 10,597,107 B2
`
`FIG . 3
`
`DGL Exhibit 1001
`Page 0006
`
`

`

`U.S. Patent
`
`Mar. 24 , 2020
`
`Sheet 4 of 6
`
`US 10,597,107 B2
`
`FIG . 4
`
`DGL Exhibit 1001
`Page 0007
`
`

`

`U.S. Patent
`
`Mar. 24 , 2020
`
`Sheet 5 of 6
`
`US 10,597,107 B2
`
`80
`
`hub motor
`
`84
`
`85
`
`sensor
`inductive
`switch
`
`gyroscope
`
`acceleration
`Sensor
`
`controller
`
`storage
`unit
`
`correction
`unit
`
`82
`
`821
`
`-822
`
`indicating
`Screen
`
`decorative
`lamp
`
`13
`
`33
`
`charging
`interface
`
`power
`supply
`
`81
`
`FIG . 5
`
`DGL Exhibit 1001
`Page 0008
`
`

`

`U.S. Patent
`
`Mar. 24 , 2020
`
`Sheet 6 of 6
`
`US 10,597,107 B2
`
`;
`
`220
`
`FIG . 6
`
`DGL Exhibit 1001
`Page 0009
`
`

`

`US 10,597,107 B2
`
`5
`
`ELECTRIC VEHICLE
`
`2
`bottom cover and the inner cover , respectively . The power
`supply is fixed between the first bottom cover and the first
`inner cover . The controller is fixed between the second
`CROSS - REFERENCE TO RELATED
`bottom cover and the second inner cover . The controller is
`APPLICATIONS
`electrically connected with the plurality of sensors , the
`power supply , and the hub motors , and the controller con
`This application is a continuation of U.S. patent applica
`trols the hub motors to drive the corresponding wheels to
`tion Ser . No. 16 / 429,636 filed on Jun . 3 , 2019 , which is a
`rotate according to sensing signals transmitted by the sen
`continuation application of U.S. patent application Ser . No.
`15 / 160,589 filed on May 20 , 2016 , now U.S. Pat . No.
`sors .
`10,336,392 , issued on Jul . 2 , 2019 , which is a continuation
`10
`According to one embodiment of the invention , the elec
`tric self - balancing vehicle may further include two pedals
`application of U.S. patent application Ser . No. 14 / 773,650 ,
`filed on Sep. 8 , 2015 , now U.S. Pat . No. 9,376,155 , issued
`fixed to the top cover and the inner cover .
`on Jun . 28 , 2016 , which is a 371 of International Application
`According to one embodiment of the invention , the pedals
`No. PCT / CN2014 / 092849 , filed on Dec. 2 , 2014 , which
`claims priority to Chinese Patent Application No. 2014- 15 may have mutually separated friction strips disposed on
`upper surfaces of the pedals .
`10262353.9 filed on Jun . 13 , 2014 , the disclosures of which
`According to one embodiment of the invention , the first
`are herein incorporated by reference in their entirety .
`top cover and the second top cover may have hollow spaces ,
`respectively , the first inner cover and the second inner cover
`TECHNICAL FIELD
`20 may have recesses at positions corresponding to the hollow
`spaces , respectively , and the hollow spaces may be com
`The present invention relates to an electric balance two
`bined with the recesses to form pedal cavities for containing
`wheeled vehicle , of which two platforms for carrying people
`the pedals .
`can rotate relative to each other to drive .
`According to one embodiment of the invention , the rotat
`25 ing mechanism may include two bearings , a shaft sleeve ,
`BACKGROUND
`and two snap springs , the two bearings may be fixed to the
`first inner cover and the second inner cover , respectively ,
`An electric self - balancing vehicle is also known as a
`and the shaft sleeve may be fixed inside the two bearings and
`somatosensory vehicle or a sensor controlled vehicle . The
`may be fixed to the inner cover via the two snap springs .
`operating principle thereof is mainly established on a basic
`According to one embodiment of the invention , the inner
`principle called “ dynamic stabilization ” , the change of car 30
`cover may have a cylindrical barrel , and the bearings and the
`attitudes is detected by a gyroscope and an acceleration
`shaft sleeve may be installed in the barrel via the snap
`sensor inside the vehicle body , and a motor is accurately
`springs .
`driven by a servo control system to adjust correspondingly ,
`According to one embodiment of the invention , the elec
`in order to keep the balance of the system .
`The existing electric self - balancing vehicle generally has 35 tric self - balancing vehicle may further include a decorative
`an operating rod . A user stands on a foot platform of the
`lamp disposed at the bottom cover .
`self - balancing vehicle to operate the operating rod so as to
`According to one embodiment of the invention , the top
`advance , retreat , and stop , and this control is also known as
`cover may further include two indicating screens electrically
`" manual control " . The foot platform of the existing self
`connected with the controller . One indicating screen may
`balancing vehicle is generally a flat plate , and the foot 40 display a remaining capacity of the power supply , and the
`platform is always kept in a horizontal state during use and
`other indicating screen may display a working state of the
`cannot rotate relatively . Therefore , the user cannot control
`electric self - balancing vehicle .
`According to one embodiment of the invention , the sensor
`the self - balancing vehicle merely through the feet .
`may include a gyroscope , an acceleration sensor , and an
`BRIEF SUMMARY OF THE INVENTION
`45 inductive switch , the inductive switch may sense whether a
`user stands on the electric self - balancing vehicle so as to be
`In order to overcome at least one defect in the prior art ,
`on or off , the controller may receive the sensing signal of the
`inductive switch to control the hub motors to work or to stop ,
`the present invention provides an electric self - balancing
`and the controller may receive the sensing signals of the
`vehicle .
`To achieve the above objective , the present invention 50 acceleration sensor and the gyroscope to control the hub
`motors to change a state or to keep the state .
`provides an electric self - balancing vehicle including a top
`cover , a bottom cover , an inner cover , a rotating mechanism ,
`According to one embodiment of the invention , the induc
`two wheels , two hub motors , a plurality of sensors , a power
`tive switch may be an infrared photoelectric sensor .
`supply , and a controller . The top cover includes a first top
`According to one embodiment of the invention , the elec
`cover and a second top cover disposed symmetrically and 55 tric self - balancing vehicle may further include a charging
`rotatable relative to each other . The bottom cover is fixed to
`interface disposed at the bottom cover .
`the top cover , and the bottom cover includes a first bottom
`According to one embodiment of the invention , the elec
`cover and a second bottom cover disposed symmetrically
`tric self - balancing vehicle may further include an interface
`and rotatable relative to each other . The inner cover is fixed
`cover covering the charging interface .
`between the top cover and the bottom cover , and the inner 60
`According to one embodiment of the invention , the elec
`cover includes a first inner cover and a second inner cover
`tric self - balancing vehicle may further include a limiting
`disposed symmetrically and rotatable relative to each other .
`shaft disposed between the first inner cover and the second
`The rotating mechanism is fixed between the first inner
`inner cover , and the length of the limiting shaft in the second
`cover and the second inner cover . The two wheels are
`inner cover may be larger than the length of the limiting
`rotatably fixed at two sides of the inner cover , respectively . 65 shaft in the first inner cover .
`The two hub motors are fixed in the two wheels , respec
`According to one embodiment of the invention , the top
`tively . The plurality of sensors is disposed between the
`cover may have two arc - shaped projections , and the two
`
`DGL Exhibit 1001
`Page 0010
`
`

`

`US 10,597,107 B2
`
`5
`
`3
`4
`FIG . 6 is a schematic diagram showing an electric self
`arc - shaped projections may be located above the two wheels
`balancing vehicle according to a second embodiment of the
`and may cover a part of the wheels , respectively .
`invention ,
`According to one embodiment of the invention , the width
`of the arc - shaped projections may be larger than the width
`DETAILED DESCRIPTION OF THE
`of the wheels .
`INVENTION
`According to one embodiment of the invention , the top
`cover and the bottom cover may be made of plastic , and the
`Please refer to FIG . 1 to FIG . 5 together . An electric
`inner cover may be made of aluminum alloy .
`self - balancing vehicle 100 in this embodiment includes a top
`According to one embodiment of the invention , the elec
`10 cover 1 , an inner cover 2 , a bottom cover 3 , two hub motors
`tric self - balancing vehicle may further include a remote
`4 , two wheels 50 , a rotating mechanism 60 , a plurality of
`controller , and the controller may receive a control signal
`sensors 80 , a power supply 81 , and a controller 82 .
`sent by the remote controller .
`The top cover 1 includes a first top cover 11 and a second
`According to one embodiment of the invention , the con
`top cover 12 , and the first top cover 11 and the second top
`troller may have a storage unit and a correction unit , the 15 cover 12 are disposed symmetrically and rotatable relative to
`storage unit may store an initial balance state of the electric
`each other . When the electric self - balancing vehicle 100 is in
`self - balancing vehicle , and the correction unit may correct a
`a using state , the top cover 1 is located at the top . The first
`current balance state of the electric self - balancing vehicle .
`top cover 11 may be a left top cover , and the second top
`In summary , according to the invention , the inner cover is
`cover 12 may be a right top cover . However , the invention
`uniquely disposed between the top cover and the bottom 20 is not limited thereto . When the electric self - balancing
`cover of the electric self - balancing vehicle , such that the
`vehicle 100 is rotated 180 degrees horizontally , the first top
`entire structure of the electric self - balancing vehicle is
`cover 11 becomes the right top cover , and the second top
`firmer , and electronic elements inside the vehicle body are
`cover 12 becomes the left top cover .
`protected at the same time . Further , a space for fixing the
`The shapes of the first top cover 11 and the second top
`electronic elements is formed between the inner cover and 25 cover 12 are basically the same , and the first top cover 11
`the bottom cover , such that the electronic elements are
`and the second top cover 12 can rotate relative to each other
`installed more compactly . The power supply and the con
`under the action of the rotating mechanism 60. The inward
`troller are disposed in two parts of the vehicle body , respec
`parts of the first top cover 11 and the second top cover 12 are
`tively . Therefore , one power supply and one controller can
`connected to form an X shape , and two indicating screens 13
`control the two hub motors simultaneously , the assembly is 30 are disposed at the inner ends . The indicating screens 13 are
`easier , the wiring is more convenient , and more space is
`electrically connected with the controller 82 , wherein one of
`saved . Meanwhile , the weights on both sides of the vehicle
`the indicating screens 13 can display a remaining capacity of
`body are better balanced thus to improve the self - balance of
`the power supply 81 , and the other indicating screen 13 can
`the vehicle body . According to the present invention , the
`display a working state of the electric self - balancing vehicle
`wheels are located at the left and right edges of the vehicle 35 100. In actual application , a transparent outer cover 14 is
`body . Thus , the wheels with larger sizes can be used .
`disposed on each indicating screen 13 for protecting the
`Compared with the existing self - balancing vehicle with
`indicating screen 13 and facilitating reading for a user . The
`wheels installed at the bottom of the bottom cover , the
`indicating screen 13 displaying the working state can display
`electric self - balancing vehicle has considerable movement
`different icons ( for example , a battery icon and the like )
`distance and speed advantages . Further , the hub motors are 40 according to different modes of the electric self - balancing
`adopted in the present invention , and the motors are directly
`vehicle 100 , for example , a low speed mode , a high speed
`installed in the wheels . Accordingly , the structure of the
`mode , a normal system state , a locked state and the like ,
`thereby enabling the user to intuitively and clearly under
`electric self - balancing vehicle is more compact . Compared
`with the self - balancing vehicle singly installed with a motor ,
`stand the working state of the electric self - balancing vehicle
`more space is saved and the entire device is more compact . 45 100 .
`These and other features , aspects , and advantages of the
`In the embodiment , outward parts of the first top cover 11
`present invention will become better understood with regard
`and the second top cover 12 have arc - shaped projections 15 ,
`to the following description , appended claims , and accom
`respectively , and the two arc - shaped projections 15 are
`panying drawings .
`located above the two wheels 50 and cover a part of the
`50 wheels 50 , respectively . In the first embodiment , the width
`W1 of each of the arc - shaped projections 15 is larger than
`BRIEF DESCRIPTION OF THE DRAWINGS
`the width W2 of each of the wheels 50. The arc - shaped
`projections 15 completely cover the tops of the wheels 50 .
`FIG . 1 is a sectional view showing an electric self
`Due to this arrangement , the arc - shaped projections 15 can
`balancing vehicle according to a first embodiment of the
`55 effectively block muddy water splashed when the wheels 50
`present invention ;
`FIG . 2 is an exploded schematic diagram showing the
`walk . Meanwhile , a hanging object ( for example , an over
`electric self - balancing vehicle according to the first embodi
`long waistband of the clothes of the user ) is prevented from
`being accidentally rolled into the wheels in a moving
`ment of the invention ;
`FIG . 3 is a schematic diagram showing the electric
`process to cause possible injury of the user , so that the safety
`self - balancing vehicle according to the first embodiment of 60 of the electric self - balancing vehicle 100 is improved . How
`ever , the invention is not limited thereto . In other embodi
`the invention ;
`FIG . 4 is a schematic diagram showing the electric
`ments , the arc - shaped projections 15 can be designed to be
`self - balancing vehicle at another angle according to the first
`narrow at two ends and wide in the middle .
`The bottom cover 3 is fixed to the top cover 1. In actual
`embodiment of the invention ;
`FIG . 5 is a partial functional block diagram of the electric 65 application , the top cover 1 and the bottom cover 3 can be
`self - balancing vehicle according to the first embodiment of
`fixed together by screws . In the present invention , the top
`cover 1 , the inner cover 2 , and the bottom cover 3 jointly
`the invention ; and
`
`DGL Exhibit 1001
`Page 0011
`
`

`

`US 10,597,107 B2
`
`5
`6
`form the framework of the electric self - balancing vehicle
`stand more stably in the moving process , mutually separated
`100 , and after the top cover 1 and the bottom cover 3 are
`friction strips 51 are disposed on the upper surface of each
`fixed together , the inner cover 2 is covered inside the vehicle
`pedal 5 of the self - balancing vehicle 100 in the embodiment
`body and is not exposed . When the electric self - balancing
`to increase the friction force .
`vehicle 100 is
`in the using state , the bottom cover 3 is 5
`To fix the pedals 5 and reduce the volume of the self
`balancing vehicle 100 , the first top cover 11 and the second
`located at the bottom .
`The bottom cover 3 includes a first bottom cover 31 and
`top cover 12 have hollow spaces 16 , respectively , the first
`a second bottom cover 32 , and the first bottom cover 31 and
`inner cover 21 and the second inner cover 22 have recesses
`the second bottom cover 32 are disposed symmetrically and
`23 at positions corresponding to the hollow spaces 16 ,
`rotatable relative to each other . The shapes of the first bottom
`10 respectively , and the hollow spaces 16 and the recesses 23
`cover 31 and the second bottom cover 32 are basically the
`are mutually combined to form pedal cavities ( not shown in
`same , and the first bottom cover 31 and the second bottom
`FIG . 2 ) for containing the pedals 5. In actual application , the
`hollow spaces 16 are penetrated in the top cover 1 , the
`cover 32 can rotate relative to each other under the action of
`the rotating mechanism 60. The inward parts of the first
`recesses 23 are not penetrated in the inner cover 2 , and the
`bottom cover 31 and the second bottom cover 32 are 15 shapes of the hollow spaces 16 and the recesses 23 are
`connected to form an X shape . Similarly , the first bottom
`matched with the shapes of the pedals 5. The pedal cavities
`cover 31 may be a left bottom cover , and the second bottom
`are containing spaces having bottom surfaces and side walls
`cover 32 may be a right bottom cover . When the electric
`formed after the combination of the hollow spaces 16 with
`self - balancing vehicle 100 is rotated 180 degrees horizon
`the recesses 23 .
`tally , the first bottom cover 1 becomes the right bottom 20
`When in use , the pedals 5 directly carry the user . The inner
`cover , and the second bottom cover 32 becomes the left
`cover 2 is used as the internal framework of the entire
`self - balancing vehicle 100 to indirectly bear the weight of
`bottom cover .
`In the embodiment , the bottom cover 3 has two decorative
`the user transferred by the pedals 5 , thereby preventing
`lamps 33 for increasing the beautiful appearance and playing
`electronic elements between the inner cover 2 and the
`an illumination role at the same time . The shells of the 25 bottom cover 3 from being extruded by the weight of the
`decorative lamps 33 may be transparent for transmitting
`user . Therefore , the entire electric self - balancing vehicle 100
`light . In actual application , the decorative lamps 33 may be
`is firmer and stronger , and the electronic elements therein are
`electrically connected with the controller 82 , so that the
`protected , such that the self - balancing vehicle 100 operates
`decorative lamps 33 can reflect a driving state of the electric
`more stably and has longer service life . Preferably , the inner
`self - balancing vehicle 100 to remind surrounding people , 30 cover 2 is made of aluminum alloy . Thus , the strength is
`thereby improving the using safety . For example , when the
`higher , and the structure is more stable . The top cover 1 and
`electric self - balancing vehicle 100 advances , the decorative
`the bottom cover 3 are made of plastic , so that the weight of
`lamps 33 may stay lit ; when the electric self - balancing
`the entire vehicle body is reduced , the processes , such as
`vehicle 100 retreats , the decorative lamps 33 may flash ;
`spray coating , coloring and so on , are conveniently carried
`when the electric self - balancing vehicle 100 turns left , the 35 out on the appearance of the vehicle body , and antifouling
`decorative lamp 33 at the left side may flash or stay lit , and
`and waterproof functions are achieved . Since the conven
`the decorative lamp 33 at the right side may be off ; when the
`tional electric self - balancing vehicle does not include the
`electric self - balancing vehicle 100 turns right , the decorative
`inner cover 2 , the internal electronic elements directly bear
`lamp 33 at the right side may flash or stay lit , and the
`the weight of the u